Fusion of wearable sensors and mobile haptic robot for the assessment in upper limb rehabilitation

Robot based rehabilitation is gaining traction also thanks to a generation of light and portable devices. This type of rehabilitation offers a high degree of flexibility in the design of interaction software and therapeutic process. There is therefore the need to perform assessment of the patient upper limb state during and after treatment. This paper presents the integration and fusion of a portable rehabilitation robot called MOTORE++ with a wearable tracking system for assessment purposes. The wearable system is based on inertial units together with EMG signals. The combination of the data from both the devices allows to partially evaluate the physiological condition of the user and the influence of the robot in the rehabilitation procedure. Results of an experimental campaign with patients is presented. This work opens also a spectrum of possible developments of adaptive behavior of the robot in the interaction with the patient.